Racetrack.h

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//
//  Racetrack.h
//  hog2 glut
//
//  Created by Nathan Sturtevant on 7/5/21.
//
 
#ifndef RACETRACK_H
#define RACETRACK_H
 
#include <stdio.h>
#include <cstdint>
#include <math.h>
#include "SearchEnvironment.h"
#include "Map2DEnvironment.h"
#include "Map.h"
 
// TODO: Need to move code into its own namespace
 
struct RacetrackMove {
        RacetrackMove(int x=0, int y=0):xDelta(x), yDelta(y), hitGoal(false) {};
        int xDelta;
        int yDelta;
        bool hitGoal;
        int xGoal, yGoal;
};
 
 
struct RacetrackState {
        int xLoc, yLoc; // was using xyLoc from Map2DEnvironment, but can't use unsigned for racetracks
        int xVelocity, yVelocity;
};
 
const int maxVelocity = 4;
 
std::ostream &operator<<(std::ostream &out, const RacetrackState &s);
bool operator==(const RacetrackState &l1, const RacetrackState &l2);
bool operator!=(const RacetrackState &l1, const RacetrackState &l2);
std::ostream &operator<<(std::ostream &out, const RacetrackMove &m);
bool operator==(const RacetrackMove &m1, const RacetrackMove &m2); // comparing 
 
//Different types of domain
const tTerrain kStartTerrain = kSwamp; 
const tTerrain kEndTerrain = kGrass;
const tTerrain kObstacle = kTrees;
 
class Racetrack : public SearchEnvironment<RacetrackState, RacetrackMove> {
public:
        Racetrack(Map *map); 
        ~Racetrack();
        void UpdateMap(Map *map);
        void GetSuccessors(const RacetrackState &nodeID, std::vector<RacetrackState> &neighbors) const; //current state --> pass in a vector (array lists) __> fill in -- no modification
        void GetActions(const RacetrackState &nodeID, std::vector<RacetrackMove> &actions) const; // no modification
        int GetNumSuccessors(const RacetrackState &stateID) const
        { std::vector<RacetrackState> neighbors; GetSuccessors(stateID, neighbors); return (int)neighbors.size(); }
        
        void Reset(RacetrackState &s) const;
        
        
        void ApplyAction(RacetrackState &s, RacetrackMove a) const;// a = action s(state) gets changed
        bool InvertAction(RacetrackMove &a) const;
        RacetrackMove GetAction(const RacetrackState &s1, RacetrackState &s2) const;
 
        void Boundaries(RacetrackState &s, RacetrackMove &v) const;
        bool Legal(const RacetrackState &node1, RacetrackMove &act) const;
        
        double HCost(const RacetrackState &node1, const RacetrackState &node2) const;
        double HCost(const RacetrackState &node) const;
        
        double GCost(const RacetrackState &node1, const RacetrackState &node2) const { return 1; };
        double GCost(const RacetrackState &node, const RacetrackMove &act) const { return 1; };
        bool GoalTest(const RacetrackState &node, const RacetrackState &goal) const; // Goal reached?
        // 
        uint64_t GetStateHash(const RacetrackState &node) const; // turn into a number
        uint64_t GetActionHash(RacetrackMove act) const;
        
        // Deprecated
        void OpenGLDraw() const {};
        void OpenGLDraw(const RacetrackState&) const {};
        void OpenGLDraw(const RacetrackState&, const RacetrackMove&) const {};
 
        void Draw(Graphics::Display &display) const;
        void Draw(Graphics::Display &display, const RacetrackState &s) const;
        void Draw(Graphics::Display &display, const RacetrackState&, RacetrackMove&) const;
        void Draw(Graphics::Display &display, const RacetrackState &l1, const RacetrackState &l2, float v) const;
 
        void DrawLine(Graphics::Display &display, const RacetrackState &x, const RacetrackState &y, float width) const;
protected: // take two states and draw a line
private:
        MapEnvironment *me;
        Map *map;
        std::vector<int> heuristic;
        int GetIndex(int x, int y) const {return static_cast<int>(map->GetMapWidth()*y+x);}
        void GetCarCoordinates(const RacetrackState &s, Graphics::point &center, Graphics::point &p1, Graphics::point &p2, Graphics::point &p3) const;
};
 
 
#endif /* TOH_hpp */